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Volume 39 Issue 7
Jul.  2013
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Journal of Beijing University of Aeronautics and Astronautics  > 2013  >  39(7): 922-926.
Zhang Xiaoyue, Yang Gongliu, Zhang Chunxiet al. Integrated navigation method for SINS and odometer[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(7): 922-926. (in Chinese)
Citation: Zhang Xiaoyue, Yang Gongliu, Zhang Chunxiet al. Integrated navigation method for SINS and odometer[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(7): 922-926. (in Chinese)
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Integrated navigation method for SINS and odometer

  • School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 03 Aug 2012
  • Publish Date: 30 Jul 2013
    Abstract
  • In order to complete independent navigation for land vehicle, integration of strapdown inertial navigation system (SINS) and odometer was realized based on Kalman filter. Odometer error model was proposed, which was associated with inertial measurement unit(IMU) error model and INS error model, and error model of integration system was established. SINS/odometer integration navigation observation model was established, the compensation method of error estimation was described. The integrated navigation method was validated in a simulation, the simulation results indicate that: in the process of integrated navigation, initial error of attitude could be estimated, and attitude error and position error retained in a certain range, navigation precision was improved compared with the traditional dead-reckoning algorithm, and independent high accuracy position and attitude determination was obtained.

     

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    • References(7)
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